WO1997039853A1 - Systeme de soudage par points - Google Patents

Systeme de soudage par points Download PDF

Info

Publication number
WO1997039853A1
WO1997039853A1 PCT/JP1997/001462 JP9701462W WO9739853A1 WO 1997039853 A1 WO1997039853 A1 WO 1997039853A1 JP 9701462 W JP9701462 W JP 9701462W WO 9739853 A1 WO9739853 A1 WO 9739853A1
Authority
WO
WIPO (PCT)
Prior art keywords
spot welding
robot
robots
work
parallel link
Prior art date
Application number
PCT/JP1997/001462
Other languages
English (en)
Japanese (ja)
Inventor
Ryo Nihei
Takeshi Okada
Original Assignee
Fanuc Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Priority to DE69723532T priority Critical patent/DE69723532T2/de
Priority to EP97919705A priority patent/EP0842727B1/fr
Priority to US08/981,453 priority patent/US6059169A/en
Publication of WO1997039853A1 publication Critical patent/WO1997039853A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots

Definitions

  • the present invention relates to a spot welding system using a robot.
  • a spot welding system using a robot equipped with a spot welding gun is known, and is widely used in, for example, an assembling process of a vehicle body.
  • the spot to be spot-welded is not a single spot, and it is customary that spot welding is performed at an extremely large number of spots, particularly in an assembling process of a vehicle body.
  • a plurality of articulated robots are arranged in parallel so as to protrude laterally from an upright wall, or are suspended from a structure such as a ceiling or a beam.
  • the layout is set down and installed in parallel.
  • a dedicated robot installation base is provided in place of the existing structure.
  • an object to be welded such as a vehicle body
  • the transport is intermittently repeated in such a manner as to stop sequentially at each work stage, and spot welding at a required portion is performed at each work stage.
  • An object of the present invention is to provide a spot welding system capable of densely arranging a plurality of robots, thereby improving the efficiency of spot welding work and saving space. It is.
  • the present invention provides, as a robot which is installed in parallel and densely in a spot welding system, a parallel link having a plurality of telescopic arms; And a wrist having a rotary drive shaft.
  • a plurality of parallel link robots are closely contacted with each other and are suspended from the gantry so as to protrude laterally from the gantry. It will be installed in this way.
  • a spot welding gun is attached to the wrist of each robot.
  • the gantry on which a plurality of robots are mounted is provided so as to be able to travel along the direction of transport of the work to be welded. Spot welding can be performed while tracking the workpiece with the movable base.
  • FIG. 1 is a perspective view showing a schematic arrangement of a spot welding system according to a first embodiment of the present invention.
  • FIG. 2 is a partially enlarged view showing the configuration of the spot welding system shown in FIG.
  • FIG. 3 is a perspective view showing a schematic arrangement of a spot welding system according to a second embodiment of the present invention.
  • FIG. 4 is a main part block diagram showing the configuration of a controller usable in each embodiment of the present invention.
  • FIG. 5 is an explanatory view showing the arrangement of a multi-joint robot used in a conventional spot welding system and a parallel link opening bot used in the present invention.
  • reference numeral S 1 denotes a traveling direction of a conveyor (not shown) for conveying a work (for example, an unfinished vehicle body assembly) W, and a work coordinate system. ⁇ coincides with the X-axis direction.
  • a guide 14 is laid on a structure such as a floor along the traveling direction of the conveyor, and a gantry 10 is mounted on the guide 14 so as to be able to travel in the direction of arrow S2.
  • the gantry 10 is composed of an L-shaped upright wall 11, a pedestal 12, and a structural reinforcing member 13.
  • a camera CM for detecting the position of the workpiece W is provided at an appropriate position on the standing wall portion 11.
  • the camera CM constitutes a visual sensor together with an image processing section incorporated in a controller described later, and is used when each robot performs a tracking operation.
  • the pedestal 10 has a plurality of para-renole link robots RB 1 ⁇ RB4 are densely arranged in parallel along the conveyor running direction (X-axis direction).
  • the number of robots installed on one stand 10 is arbitrary. Needless to say, a plurality of mounts 10 may be mounted on the same guide 14.
  • Each of the normal link robots RB1 to RB4 is a 6-axis robot, and has three arms AMI that can be freely extended and retracted. It is attached to the tip of the Nora Lenora Link PR and consists of a wrist WR with three rotary drive shafts and a force.
  • Each of the normal link robots RB1 to RB4 projects laterally from the gantry 10 in such a manner that the telescopic arms AMI1 to AM13 extend above the work W traveling path. .
  • a wrist having three rotary drive shafts that rotate as indicated by reference numerals S3, S4, and S5 is attached to the distal end of each of the arms AMI1 to AM13.
  • Spot welding guns G1 to G4 are attached to the tip of each wrist.
  • tools such as jigs other than welding guns are attached to some of the wrists of the Nora Renorin Link Robots RB1 to RB4, and work other than welding is performed. There are also things.
  • Holes HI 1 to H 13 for arms AMI 1 to AM 13 are provided at predetermined positions of the standing wall portion 11 of the gantry 10. Each of the arms AMI 1 to AM 13 extends through the holes HI 1 to H 13 to the pedestal portion 12 side. Holes H11 to H13 are provided for rocking corresponding to the operating range of arms AMI1 to AMI3. It has a dimension that does not hinder the movement and has a bearing mechanism for swingably supporting the arms AMI1 to AM13 as described later.
  • FIG. 2 shows the configuration on the gantry 10 and the base ends of two arms AMI 2 and AM 13 of the arms of the parallel-link robot RB 1.
  • the surrounding configuration is shown enlarged.
  • a traveling wheel 15 provided on a pedestal portion 12 is engaged with a guide 14 laid on the floor surface FL.
  • a rack 16 is laid in parallel with the guide 14, and a pinion 17 is engaged with the rack 16.
  • the pinion 17 is connected to a traveling axis driving servomotor M 25 via a speed reducer 18.
  • servo motors M 2 and M 3 for extending and retracting the arms A MI 2 and A MI 3 are mounted on the base ends of the arms A MI 2 and A MI 3.
  • a single motor is installed. Inside the holes HI 2 and HI 3 through which the arms AMI 2 and AMI 3 respectively pass, bearing mechanisms BR 12 and BR 13 for swingably supporting the arms AMI 2 and AMI 3 are provided, respectively. ing .
  • the telescopic mechanism of each of the arms AMI1 to AM13 is housed inside a tube member forming the outer skin of the arms AM1 to AM13, and is driven by a servomotor. And a bearing mechanism provided at a connection with the wrist.
  • the operating principle of the parallel link robot and the positioning control itself are generally known technologies, and a detailed description thereof will be omitted here.
  • the controller 30 is connected to the NORA LOREN Link Robot RB 1
  • reference numeral 1 represents an area of one work stage, and a work W such as a vehicle body is conveyed into this area.
  • the articulated robots RB11 and RB12 used in the conventional spot welding system have a structure in which several links are connected in series, and drive each link.
  • the motor is provided in each joint mechanism.
  • the articulated robots RB11 and RB12 usually have overhangs for the motor installation in the joint mechanism of the basic shaft, as indicated by reference numerals A and B. is there .
  • the motors of the basic axes of the parallel link opening bots RB1 to RB4 employed in the present invention have arms AM1 :! -It is provided at the base end of AM43, so it is suitable for high-density placement because there are no overhangs A and B for motor installation in the multi-joint robots RB11 and RB12. .
  • the arms A MI:! To A M 43 of the respective basic axes are telescopic arms, and hardly perform revolving motion. Therefore, it is clear that it is suitable for high-density arrangement from the viewpoint of interference possibility.
  • FIG. 4 shows the main configuration of the controller 30 shown in FIG.
  • the controller 30 is equipped with a processor board 31 which is a central processing unit (CPU) 31 comprising a micro processor. a, ROM 31b and RAM 31c.
  • CPU central processing unit
  • the CPU 31a controls the whole controller and each part according to the program stored in the ROM 31b.
  • the programs stored in the ROM 31b include various programs for tracking required to execute spot welding without stopping the work W at the work stage.
  • the created operation program and various set values are downloaded to RA31c.
  • a part of the RAM 31c is used for temporary data storage for calculation processing executed by the CPU 31a. Note that it is not suitable for saving program data and setting values, and downloading to RAM 31c.
  • a hard disk device prepared as an external device is used.
  • the processor board 31 is connected to a bus 37 so that commands and data can be transmitted to and received from other parts of the controller 30 via this bus connection.
  • the digital servo control circuit 32 is connected to the processor board 31 and receives commands from the CPU 31a to control the servomotors Ml to M25 via the servo amplifier 33.
  • servo motors Ml to M25, Ml to! V16 is no. This is a motor for driving the telescopic movement of each arm AMI1 to AM13 of the parallel link robot RB1 and for rotating the wrist shaft.
  • servo motors M 7 to M 12, M 13 to M 18, and M 19 to M 24 are paralenorrelink robots RB 2 to RB 4, respectively, which are used to extend and retract arms. It is a motor for driving shaft rotation.
  • the servo motor M 25 is a motor for driving the traveling axis. In the case where the guns G1 to G4 are servo guns, the number of motors is further increased.
  • a serial port 34 is connected to the nos 37, and the serial port 34 is connected to a teaching operation panel 38 with a liquid crystal display, an RS232C device (communication interface). Face) 3 9 is connected.
  • the teaching operation panel 38 is used for manual input of various commands, input and editing of various programs and position data necessary for system operation, and other necessary setting values. Is
  • the bus 37 further includes an input / output device for digital signals (digital I / O) 35 and an input / output device for analog signals (analog I / O) 3. 6 are joined.
  • an input / output device for digital signals digital I / O
  • an input / output device for analog signals analog I / O 3. 6 are joined.
  • a visual sensor including a camera CM [Nos. 37], camera interface CF, image processing processor IP and frame memory Re FM is connected.
  • the outline of the operation of the spot welding system of the first embodiment having the above configuration is as follows, for example.
  • Bot RB 1- RB 4 retreats from work W force and ends tracking.
  • the program for controlling the operation in each stage is determined by the specific work content, and is not particularly limited in the present invention. Also, tracking using a traveling axis is merely an application of a known linear tracking technique, and a detailed description thereof will be omitted.
  • each of the parallel link robots RB1 to RB4 is of the same type as in the first embodiment, so that the parallel link robot has three telescopic arms AMI1 to AM13. And a 6-axis robot with a wrist having three rotary drive shafts.
  • Each of the parallel-link robots RB1 to RB4 is suspended from the gantry 20 in such a manner that the telescopic arms AMI1 to AM13 hang above the work W supply position.
  • the spot welding guns G1 to G4 are attached to the tip of each wrist.
  • Some of the normal link robots RB1 to RB4 may be robots other than welding robots (for example, jig robots).
  • the gantry 20 has the same structure as that of the gantry 10 used in the first embodiment except that it is box-shaped, and penetrates a hole (not shown) provided at a predetermined position to provide an arm AMI. 1 to AM 13 extend inside the gantry 20. Further, similarly to the first embodiment, a bearing mechanism for swingably supporting each of the arms AMI1 to AM13 is provided inside each hole.
  • the arrangement inside the gantry 20 is the same as the arrangement on the pedestal portion 12 side in the first embodiment, so a detailed description is omitted.
  • the traveling of the gantry 20 It is secured by guides 21 and 22 and a rack 23 attached to both ends of the structure.
  • Servomotor M25, a reduction gear, and a pinion that engages with rack 23, which serve as a drive source of the traveling axis, are provided inside gantry 20 in the same manner as in the first embodiment. There.
  • the controller to be controlled is also installed inside the gantry 20 in the same manner as in the first embodiment.
  • the controller is the same as in the first embodiment, and its configuration and function are the same as those of the spot welding system of the second embodiment described with reference to FIG.
  • the outline of the operation is the same as that of the first embodiment except for the difference in the operation program resulting from the difference in the posture of the parano-link robot R:! It is similar to the dot welding system.
  • the pinion rack is used for traveling of the gantry.
  • another traveling mechanism for example, a traveling mechanism using a linear motor may be used.
  • a plurality of robots can be densely arranged, which is advantageous in terms of efficient spot welding and saving space.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Resistance Welding (AREA)
  • Manipulator (AREA)

Abstract

Cette invention concerne un système de soudage par points faisant usage de robots à liaisons parallèles disposés à proximité les uns des autres. Lorsqu'une caméra (CM) détecte l'arrivée d'une pièce à usiner (W) transportée, un support se déplace le long d'un guide et le suivi de la pièce à usiner démarre. Ensuite, une liaison parallèle, dotée d'une pluralité de bras contractiles, et des robots (RB1 à RB4) ayant chacun un poignet installé à l'extrémité distale de la liaison, démarrent leur phase de travail. Un grand nombre d'emplacements de la pièce à usiner sont soudés par des pistolets à souder par points (G1 à G4) équipant les poignets desdits robots. L'extrémité proximale de chaque bras contractile est supportée par une paroi verticale du support de manière à pouvoir se balancer et chaque robot est disposé de façon à faire saillie par rapport au support. Les robots à liaisons parallèles peuvent être suspendus au support à proximité les uns des autres.
PCT/JP1997/001462 1996-04-25 1997-04-25 Systeme de soudage par points WO1997039853A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE69723532T DE69723532T2 (de) 1996-04-25 1997-04-25 Punktschweissvorrichtung mit robotern
EP97919705A EP0842727B1 (fr) 1996-04-25 1997-04-25 Systeme de soudage par points utilisant des robots
US08/981,453 US6059169A (en) 1996-04-25 1997-04-25 Spot welding system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8127689A JPH09285874A (ja) 1996-04-25 1996-04-25 スポット溶接システム
JP8/127689 1996-04-25

Publications (1)

Publication Number Publication Date
WO1997039853A1 true WO1997039853A1 (fr) 1997-10-30

Family

ID=14966278

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1997/001462 WO1997039853A1 (fr) 1996-04-25 1997-04-25 Systeme de soudage par points

Country Status (5)

Country Link
US (1) US6059169A (fr)
EP (1) EP0842727B1 (fr)
JP (1) JPH09285874A (fr)
DE (1) DE69723532T2 (fr)
WO (1) WO1997039853A1 (fr)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
EP3819085A1 (fr) * 2019-11-11 2021-05-12 Kabushiki Kaisha Yaskawa Denki Système de robot de liaison parallèle et robot de liaison parallèle

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JP4018057B2 (ja) * 2003-03-31 2007-12-05 株式会社新川 ボンディング装置
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KR100986195B1 (ko) * 2009-07-01 2010-10-07 장환태 카메라를 이용한 스포트 용접 시스템 및 스포트 용접 방법
CN102189320B (zh) * 2010-03-12 2013-06-19 富港电子（东莞）有限公司 自动点焊系统
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US9365021B2 (en) * 2012-12-26 2016-06-14 Daniel Judge Villamar Systems and methods for layered manufacturing
KR101483047B1 (ko) * 2013-07-02 2015-01-19 김성갑 스폿 용접기의 타점 누락 방지 시스템
CA3008600C (fr) 2014-12-15 2022-09-13 Comau Llc Systeme et procede d'assemblage de vehicule modulaire
PL3452391T3 (pl) 2016-05-06 2024-07-01 Comau Llc System odwróconej windy transportowej
KR101905562B1 (ko) * 2016-12-13 2018-10-08 현대자동차 주식회사 차체 조립 시스템용 프리 벅 유닛
CN107139161A (zh) * 2017-06-09 2017-09-08 杭州亚美利嘉科技有限公司 悬挂式机器人导轨、悬挂式机器人及其运行系统
PL3707096T3 (pl) 2017-11-07 2024-09-23 Comau Llc System transportowy oraz sposoby
US11420853B2 (en) 2019-10-03 2022-08-23 Comau Llc Assembly material logistics system and methods
MX2022014615A (es) 2020-06-08 2023-01-04 Comau Llc Sistema y metodos de logistica de materiales de montaje.

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Also Published As

Publication number Publication date
EP0842727B1 (fr) 2003-07-16
DE69723532T2 (de) 2004-04-08
JPH09285874A (ja) 1997-11-04
EP0842727A4 (fr) 2002-04-17
US6059169A (en) 2000-05-09
DE69723532D1 (de) 2003-08-21
EP0842727A1 (fr) 1998-05-20

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